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dc.contributor.author | García-Fernández, Alberto | es_ES |
dc.contributor.author | Girbés, Vicent | es_ES |
dc.contributor.author | Solanes Galbis, Juan Ernesto | es_ES |
dc.contributor.author | Gracia Calandin, Luis Ignacio | es_ES |
dc.contributor.author | Perez-Vidal, Carlos | es_ES |
dc.contributor.author | Tornero Montserrat, Josep | es_ES |
dc.date.accessioned | 2021-07-03T03:31:03Z | |
dc.date.available | 2021-07-03T03:31:03Z | |
dc.date.issued | 2020 | es_ES |
dc.identifier.uri | http://hdl.handle.net/10251/168719 | |
dc.description.abstract | [EN] This article develops a human-robot cooperation to carry out treatments such as sanding, polishing, etc. on the surface of a known rigid object. For this purpose, a vision system is considered to get the object location to ensure not only the perpendicularity of the obot tool to the object surface but also a smooth approach of the tool to the surface. In order to add flexibility, the proposal includes the simultaneous combination of automatic and manual modes of operation. Thus, the human user can guide the robot tool to treat arbitrary areas (manual mode) and, when the operator releases the tool, the robot goes into the automatic mode to treat prior established areas. The method uses a task prioritization framework and three types of controllers: an admittance controller for the tool guidance; a hybrid controller to modify the tool orientation and, in the automatic mode, the tool position; and a sliding mode controller to limit the velocity at which the tool approaches the object surface. The applicability and efficacy of the proposed method is demonstrated experimentally using a conventional 6R robot arm. | es_ES |
dc.description.sponsorship | This work was supported in part by the Spanish Government, and in part by the Generalitat Valenciana under Grant DPI2017-87656-C2-1-R and Grant ACIF/2019/007. | es_ES |
dc.language | Inglés | es_ES |
dc.publisher | Institute of Electrical and Electronics Engineers | es_ES |
dc.relation.ispartof | IEEE Access | es_ES |
dc.rights | Reconocimiento (by) | es_ES |
dc.subject | Cooperative sanding | es_ES |
dc.subject | Robot cooperation | es_ES |
dc.subject | Vision system | es_ES |
dc.subject.classification | INGENIERIA DE SISTEMAS Y AUTOMATICA | es_ES |
dc.title | Human-Robot Cooperation for Surface Repair Combining Automatic and Manual Modes | es_ES |
dc.type | Artículo | es_ES |
dc.identifier.doi | 10.1109/ACCESS.2020.3014501 | es_ES |
dc.relation.projectID | info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/DPI2017-87656-C2-1-R/ES/VISION ARTIFICIAL Y ROBOTICA COLABORATIVA EN PULIDO DE SUPERFICIES EN LA INDUSTRIA/ | es_ES |
dc.relation.projectID | info:eu-repo/grantAgreement/GVA//AEST%2F2019%2F010/ | es_ES |
dc.relation.projectID | info:eu-repo/grantAgreement/GVA//ACIF%2F2019%2F007/ | es_ES |
dc.rights.accessRights | Abierto | es_ES |
dc.contributor.affiliation | Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica | es_ES |
dc.contributor.affiliation | Universitat Politècnica de València. Instituto de Diseño para la Fabricación y Producción Automatizada - Institut de Disseny per a la Fabricació i Producció Automatitzada | es_ES |
dc.description.bibliographicCitation | García-Fernández, A.; Girbés, V.; Solanes Galbis, JE.; Gracia Calandin, LI.; Perez-Vidal, C.; Tornero Montserrat, J. (2020). Human-Robot Cooperation for Surface Repair Combining Automatic and Manual Modes. IEEE Access. 8:154024-154035. https://doi.org/10.1109/ACCESS.2020.3014501 | es_ES |
dc.description.accrualMethod | S | es_ES |
dc.relation.publisherversion | https://doi.org/10.1109/ACCESS.2020.3014501 | es_ES |
dc.description.upvformatpinicio | 154024 | es_ES |
dc.description.upvformatpfin | 154035 | es_ES |
dc.type.version | info:eu-repo/semantics/publishedVersion | es_ES |
dc.description.volume | 8 | es_ES |
dc.identifier.eissn | 2169-3536 | es_ES |
dc.relation.pasarela | S\417308 | es_ES |
dc.contributor.funder | Generalitat Valenciana | es_ES |
dc.contributor.funder | Agencia Estatal de Investigación | es_ES |
dc.contributor.funder | UNIVERSIDAD POLITECNICA DE VALENCIA | es_ES |